#include "rclcpp/rclcpp.hpp"
// 数据池
#include "../communication/include/perception.h"
#include "vis.hpp"
// 预处理
// cell
// track
int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    auto perception_ = std::make_shared<perception::Perception>();
    auto vis_ = std::make_shared<perception::PerceptionVisualization>();

    auto exec_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
        rclcpp::executor::create_default_executor_arguments(), 7);
    exec_->add_node(perception_);
    exec_->add_node(vis_);
    exec_->spin();
    exec_->remove_node(perception_);
    exec_->remove_node(vis_);
    rclcpp::shutdown();
    return 0;
}